CN107458594A - Coaxial eight rotor flying robots and its method for work of verting of variable-angle - Google Patents
Coaxial eight rotor flying robots and its method for work of verting of variable-angle Download PDFInfo
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- CN107458594A CN107458594A CN201710821134.3A CN201710821134A CN107458594A CN 107458594 A CN107458594 A CN 107458594A CN 201710821134 A CN201710821134 A CN 201710821134A CN 107458594 A CN107458594 A CN 107458594A
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- rotor
- coaxial
- angle
- variable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention relates to a kind of coaxial eight rotor flying robots that vert of variable-angle, including body, protruding four support arms of surrounding of the body, the end of each support arm is connected with a pair of coaxial tilting rotors pair through angle demodulator, coaxial tilting rotor described in each pair is to including coaxial upper rotor and lower rotor, the coaxial upper rotor is identical with the rotating speed of lower rotor, it is opposite to turn to, the rotating speed of the adjacent upper rotor of any two is identical, turns on the contrary, the rotating speed of the adjacent lower rotor of any two is identical, it is opposite to turn to；The invention further relates to a kind of method of work of coaxial eight rotor flying robots that vert of variable-angle.The present invention is simple in construction, compact, reasonable, and operation is easy, easy to use, has excellent mobility and controllability, all has broad application prospects in every field.
Description
Technical field
The present invention relates to a kind of coaxial eight rotor flying robots and its method for work of verting of variable-angle.
Background technology
In recent years, with the development of aeronautical technology, rotor flying robot technology is also more and more ripe, in every field all
Extensive utilization is obtained.Because four rotor flying robots are compared with other more rotor flying robots, have it is compact-sized,
Small volume, low cost and other advantages, therefore the more rotor flying robots of Most current are studied with four rotor flying robots
Based on.But four rotor flying robots, due to there was only four motors, rotor is entirely located in same plane, causes its lift and weight
Ratio is small, and load capacity is low, less stable, and mobility is limited.
The content of the invention
In view of the deficiencies in the prior art, the technical problems to be solved by the invention are to provide that a kind of variable-angle is coaxial to vert
Eight rotor flying robots and its method of work, it is not only reasonable in design and efficiently convenient.
In order to solve the above-mentioned technical problem, the technical scheme is that：A kind of coaxial eight rotors that vert of variable-angle fly
Row robot, including body, protruding four support arms of surrounding of the body, the end of each support arm is through angle
Degree adjuster is connected with a pair of coaxial tilting rotors pair, and coaxial tilting rotor described in each pair is to including coaxial upper rotor with
Rotor, the coaxial upper rotor is identical with the rotating speed of lower rotor, turns on the contrary, turn of the adjacent upper rotor of any two
Speed is identical, turns on the contrary, the rotating speed of the adjacent lower rotor of any two is identical, it is opposite to turn to.
Preferably, the upper rotor of coaxial tilting rotor centering described in each pair is parallel to each other with lower rotor, coaxial described in each pair
The rotational plane of the rotational plane of the upper rotor of tilting rotor centering and lower rotor is parallel to each other, coaxial tilting rotor described in each pair
The upper rotor of centering is with lower rotor around same central axis.
Preferably, each upper rotor is obliquely installed with lower rotor, between the adjacent upper rotor of any two
Angle be α, the span of angle α is 90 ° ~ 135 °, and the adjacent upper rotor of any two is distributed or fallen in positive eight word
Eight words are distributed, and the distribution of positive eight word is set with eight word layout pitch.
Preferably, each upper rotor is corresponding with a upper motor and is driven by it rotating, each lower rotor
It is corresponding with a lower motor and is driven by it rotating, the upper motor of coaxial tilting rotor centering described in each pair is placed in lower motor
In motor cover and it is folded between corresponding upper rotor and lower rotor.
Preferably, the angle between the adjacent support arm of any two is 90 °.
Preferably, the angle demodulator includes the inner tube and outer tube of mutually nested setting, between said inner tube and outer tube are
Gap coordinates, and said inner tube is connected with support arm, and the outer tube is with coaxial tilting rotor to being connected.
Preferably, ring offers at least one circle adjustment hole group along its length in the side wall of the outer tube, often encloses institute
State adjustment hole group and include several spaced adjustment holes, all adjustment holes, which misplace, on the outer tube length direction sets
Put, the inner chamber of said inner tube is provided with flexure strip, and the head end of the flexure strip is fixedly connected through rivet with inner tube, the flexure strip
End be provided with spacing preiection to be engaged with adjustment hole, the inner chamber of said inner tube is additionally provided with to by spacing preiection
It is pressed into the back-moving spring of adjustment hole.
Preferably, it is provided with crane below the body.
Preferably, control unit, sensor and power supply are provided with the body.
A kind of method of work of coaxial eight rotor flying robots that vert of variable-angle, including as described in above-mentioned any one
Coaxial eight rotor flying robots that vert of variable-angle, comprise the steps of：All upper rotors and lower rotor while work
Make to drive the coaxial eight rotor flying robots flight of verting of variable-angle, all upper rotors are stopped simultaneously with lower rotor
Drive the coaxial eight rotor flying robots landing of verting of variable-angle.
Compared with prior art, the invention has the advantages that：
（1）Coaxial design in the present invention remains the advantages of compact-sized rotor flying robot of plane four and small volume, but
Under the conditions of with identical floor space, coaxial eight rotor flying robots that vert add four motors in structure, carry
The high driveability and load capacity of complete machine；
（2）Upper rotor in the present invention is obliquely installed with lower rotor, obtains coaxial, positive eight word and eight word cell cloth
Office, above-mentioned three kinds of cell layouts cooperate, and direction of rotation overcomes aerodynamic interference band on the contrary, the conjunction moment of torsion to body is zero
The harmful effect come；
（3）Angle demodulator in the present invention can change the inclination angle of coaxial tilting rotor pair, it is possible to achieve various flight attitudes
Control, overcome the harmful effect that aerodynamic interference is brought, obtain good aeroperformance；
（4）The present invention is simple in construction, compact, reasonable, and operation is easy, easy to use, has excellent mobility and controllability,
Every field all has broad application prospects.
The present invention will be further described in detail with reference to the accompanying drawings and detailed description.
Brief description of the drawings
Fig. 1 is the organigram of the embodiment of the present invention.
Fig. 2 is the organigram of the embodiment of the present invention.
Fig. 3 is the organigram of the embodiment of the present invention.
Fig. 4 is the co-axial rotor of the embodiment of the present invention to cell layout's schematic diagram.
Fig. 5 is the positive eight words tilting rotor of the embodiment of the present invention to cell layout's schematic diagram.
Fig. 6 is the eight word tilting rotors of the embodiment of the present invention to cell layout's schematic diagram.
Fig. 7 is the organigram of angle demodulator of the embodiment of the present invention.
Fig. 8 is the organigram of homophony knothole group of the embodiment of the present invention.
Fig. 9 is the organigram of pair adjustment hole group of the embodiment of the present invention.
In figure：1- bodies, 2- support arms, 3- angle demodulators, 301- inner tubes, 302- outer tubes, 303- homophony knothole groups,
304- pair adjustment hole groups, 305- flexure strips, 306- rivets, 307- spacing preiections, 308- back-moving springs, the upper rotors of 4-, 5- backspins
The wing, 6- motor covers, 7- cranes.
Embodiment
For features described above of the invention and advantage can be become apparent, special embodiment below, and coordinate accompanying drawing, make detailed
Carefully it is described as follows.
As shown in Fig. 1 ~ 9, a kind of coaxial eight rotor flying robots that vert of variable-angle, including body 1, the body 1
Protruding four support arms 2 of surrounding, the end of each support arm 2 through angle demodulator 3 be connected with a pair it is coaxial
Tilting rotor pair, coaxial tilting rotor described in each pair is to including coaxial upper rotor 4 and lower rotor 5, the coaxial upper rotation
The wing 4 is identical with the rotating speed of lower rotor 5, turn on the contrary, the rotating speed of the adjacent upper rotor 4 of any two is identical, turn on the contrary,
The rotating speed of the adjacent lower rotor 5 of any two is identical, it is opposite to turn to.
In embodiments of the present invention, the upper rotor 4 of coaxial tilting rotor centering described in each pair is parallel to each other with lower rotor 5,
The rotational plane of the rotational plane of the upper rotor 4 of coaxial tilting rotor centering and lower rotor 5 is parallel to each other described in each pair, each pair institute
The upper rotor 4 of coaxial tilting rotor centering is stated with lower rotor 5 around same central axis, it is preferred that the central shaft and branch
Brace 2 is perpendicular.
In embodiments of the present invention, each upper rotor 4 is obliquely installed with lower rotor 5, each upper rotor 4 and
Lower rotor 5 is wing using high lift-drag ratio, and the angle between the adjacent upper rotor 4 of any two is α, the value of angle α
Scope is 90 ° ~ 135 °, and the value of the angle α between the adjacent upper rotor 4 of any two is equal；It is coaxial by changing
The inclination angle of tilting rotor pair, so as to change angle α, it is possible to achieve motion is full decoupled with posture, obtains different dispensing units
Every aeroperformance, this provides convenience for the design of tilting rotor system aerodynamic arrangement；Each upper rotor 4 and lower rotor
5 are obliquely installed, realize flying robot's posture rotate and translational motion independent control, it is multiple it is described on motor with
The situation of motor failure still can continue executing with task or safe falling, be obviously improved reliability and the driving of system
The adjacent upper rotor 4 of mechanism-trouble redundant ability any two is distributed in positive eight word or eight words are distributed, and positive eight word point
Cloth is set with eight word layout pitch, as shown in Figure 1；Coaxial tilting rotor improves to increasing lift and weight ratio
Load capacity, strengthen the stability of a system；Positive eight word distribution in, two adjacent upper rotors 4 or two it is adjacent under
The rotating speed of rotor 5 is identical, oppositely oriented, inwards rotates, and this configuration to become a mandarin and go out rheology and obtain more to concentrate, pulling force
Further strengthen by interference air-flow；In the distribution of eight words, two the adjacent upper rotors 4 or two adjacent lower rotors
5 rotating speeds are identical, oppositely oriented, and side rotates outwardly, this configuration reduces impact of the air-flow to upper rotor 4 or lower rotor 5, subtracts
Small resistance, increases and becomes a mandarin.
In embodiments of the present invention, each upper rotor 4 is corresponding with a upper motor and is driven by it rotating, each
The lower rotor 5 is corresponding with a lower motor and is driven by it rotating, the upper motor of coaxial tilting rotor centering described in each pair
It is placed in motor cover 6 and is folded between corresponding upper rotor 4 and lower rotor 5 with lower motor.
In embodiments of the present invention, the angle between the adjacent support arm 2 of any two is 90 °.
In embodiments of the present invention, the angle demodulator 3 includes the inner tube 301 and outer tube 302 of mutually nested setting, institute
State inner tube 301 with outer tube 302 for gap to coordinate, said inner tube 301 is connected with support arm 2, and the outer tube 302 verts with coaxial
Rotor is to being connected.
In embodiments of the present invention, ring offers at least one circle tune along its length in the side wall of the outer tube 302
Knothole group, often enclose the adjustment hole group and include several spaced adjustment holes, own on the length direction of outer tube 302
Adjustment hole shifts to install, and the inner chamber of said inner tube 301 is provided with flexure strip 305, and the head end of the flexure strip 305 is through rivet
306 are fixedly connected with inner tube 301, and the end of the flexure strip 305 is provided with the spacing preiection to be engaged with adjustment hole
307, the inner chamber of said inner tube 301 is additionally provided with spacing preiection 307 to be pressed into the back-moving spring 308 of adjustment hole；Preferably,
The number of the flexure strip 305 is 2, and the back-moving spring 308 is arranged between two flexure strips 305；Preferably, the tune
The number of turns of knothole group is 2 circles, respectively homophony knothole group 303 and secondary adjustment hole group 304, and the homophony knothole group 303 is corresponding to be led
Graduated ring, the corresponding secondary graduated ring of the secondary adjustment hole group 304, the homophony knothole group 303 and secondary adjustment hole group 304 be all every
30 degree of angles are distributed an adjustment hole, often enclose totally 12 adjustment holes, pass through the homophony knothole group 303 and secondary adjustment hole group 304
Cooperate to obtain and rotate 15 degree of minimum division value, the number of secondary adjustment hole group 304 can also be increased as needed；In use,
The spacing preiection 307 is pressed into, relative to said inner tube 301 rotate or outer telescopic tube 302 to precalculated position after, unclamp the limit
Position projection 307, the flexure strip 305 is resetted in the presence of back-moving spring 308, and the spacing preiection 307 is pressed into phase again
In corresponding adjustment hole, it is ensured that it is spacing stuck after the rotation of the outer tube 302 regulation angle, so as to reach coaxial tilting rotor
To expected inclination angle, so as to change angle α, so as to lift every aeroperformance of complete machine and stability.
In embodiments of the present invention, the lower section of the body 1 is provided with crane 7.
In embodiments of the present invention, control unit, sensor and power supply are provided with the body 1.
In embodiments of the present invention, the method for work of coaxial eight rotor flying robots that vert of a kind of variable-angle, including
Coaxial eight rotor flying robots that vert of variable-angle as described in above-mentioned any one, are comprised the steps of：It is all it is described on
The eight rotor flying robots flight of verting coaxial with lower rotor 5 while the drive variable-angle that works of rotor 4, all upper rotors
4 eight rotor flying robots landing of verting coaxial with lower rotor 5 while the drive variable-angle that is stopped.
The present invention is not limited to above-mentioned preferred forms, and anyone can show that other are each under the enlightenment of the present invention
Coaxial eight rotor flying robots and its method for work of verting of variable-angle of kind form.It is all according to scope of the present invention patent institute
The equivalent changes and modifications done, it should all belong to the covering scope of the present invention.
Claims (10)
- A kind of 1. coaxial eight rotor flying robots that vert of variable-angle, it is characterised in that：Including body, the surrounding of the body Protruding four support arms, the end of each support arm are connected with a pair of coaxial tilting rotors through angle demodulator Right, coaxial tilting rotor described in each pair is to including coaxial upper rotor and lower rotor, the coaxial upper rotor and lower rotor Rotating speed it is identical, turn on the contrary, the rotating speed of the adjacent upper rotor of any two is identical, turns on the contrary, any two is adjacent The lower rotor rotating speed it is identical, turn to it is opposite.
- 2. coaxial eight rotor flying robots that vert of variable-angle according to claim 1, it is characterised in that：Described in each pair The upper rotor of coaxial tilting rotor centering is parallel to each other with lower rotor, and the upper rotor of coaxial tilting rotor centering described in each pair turns Dynamic plane is parallel to each other with the rotational plane of lower rotor, the upper rotor of coaxial tilting rotor centering described in each pair and lower rotor around Same central axis.
- 3. coaxial eight rotor flying robots that vert of variable-angle according to claim 2, it is characterised in that：It is each described Upper rotor is obliquely installed with lower rotor, and the angle between the adjacent upper rotor of any two is α, the value model of angle α Enclose for 90 ° ~ 135 °, the adjacent upper rotor of any two is distributed in positive eight word or eight words are distributed, and the distribution of positive eight word with Eight word layout pitch are set.
- 4. coaxial eight rotor flying robots that vert of variable-angle according to claim 1, it is characterised in that：It is each described Upper rotor is corresponding with a upper motor and is driven by it rotating, and each lower rotor is corresponding with a lower motor and by it Driving rotates, and the upper motor of coaxial tilting rotor centering described in each pair is placed in motor cover and is folded in corresponding with lower motor Between upper rotor and lower rotor.
- 5. coaxial eight rotor flying robots that vert of variable-angle according to claim 1, it is characterised in that：Any two Angle between the adjacent support arm is 90 °.
- 6. coaxial eight rotor flying robots that vert of variable-angle according to claim 1, it is characterised in that：The angle Adjuster includes the inner tube and outer tube of mutually nested setting, and said inner tube coordinates with outer tube for gap, said inner tube and support arm It is connected, the outer tube is with coaxial tilting rotor to being connected.
- 7. coaxial eight rotor flying robots that vert of variable-angle according to claim 6, it is characterised in that：The outer tube Side wall on along its length ring offer at least one circle adjustment hole group, often enclose the adjustment hole group and include several Shifted to install every all adjustment holes on the adjustment hole of setting, the outer tube length direction, the inner chamber of said inner tube is provided with bullet Property piece, the head end of the flexure strip are fixedly connected through rivet with inner tube, the end of the flexure strip be provided with to adjustment hole The spacing preiection being engaged, the inner chamber of said inner tube are additionally provided with spacing preiection to be pressed into the back-moving spring of adjustment hole.
- 8. coaxial eight rotor flying robots that vert of variable-angle according to claim 1, it is characterised in that：The body Lower section be provided with crane.
- 9. coaxial eight rotor flying robots that vert of variable-angle according to claim 1, it is characterised in that：The body Inside it is provided with control unit, sensor and power supply.
- 10. the method for work of coaxial eight rotor flying robots that vert of a kind of variable-angle, it is characterised in that will including such as right Coaxial eight rotor flying robots that vert of the variable-angle described in 1 ~ 9 any one are sought, are comprised the steps of：All upper rotations The wing eight rotor flying robots flight of verting coaxial with lower rotor while the drive variable-angle that works, all upper rotors are with Rotor is stopped simultaneously drives the coaxial eight rotor flying robots landing of verting of variable-angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710821134.3A CN107458594B (en) | 2017-09-13 | 2017-09-13 | Variable-angle coaxial tilting eight-rotor flying robot and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710821134.3A CN107458594B (en) | 2017-09-13 | 2017-09-13 | Variable-angle coaxial tilting eight-rotor flying robot and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107458594A true CN107458594A (en) | 2017-12-12 |
| CN107458594B CN107458594B (en) | 2023-05-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710821134.3A Active CN107458594B (en) | 2017-09-13 | 2017-09-13 | Variable-angle coaxial tilting eight-rotor flying robot and working method thereof |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101811572A (en) * | 2010-04-22 | 2010-08-25 | 中国科学院长春光学精密机械与物理研究所 | Coaxial-inversion birotor eight-rotary wing aircraft |
| CN103387052A (en) * | 2013-07-23 | 2013-11-13 | 中国科学院长春光学精密机械与物理研究所 | Eight-rotor craft |
| US20140319304A1 (en) * | 2013-04-30 | 2014-10-30 | Hon Hai Precision Industry Co., Ltd. | Supporting device for electronic device |
| CN204655312U (en) * | 2015-05-07 | 2015-09-23 | 常州高尔登科技有限公司 | A kind of wheelchair and backrest angle adjusting device thereof |
| CN106314784A (en) * | 2015-11-05 | 2017-01-11 | 曹萍 | Non-planar four-arm eight-rotor aircraft |
| CN106697273A (en) * | 2017-01-19 | 2017-05-24 | 福州大学 | Multi-angle adjustable flying robot and operating method thereof |
-
2017
- 2017-09-13 CN CN201710821134.3A patent/CN107458594B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101811572A (en) * | 2010-04-22 | 2010-08-25 | 中国科学院长春光学精密机械与物理研究所 | Coaxial-inversion birotor eight-rotary wing aircraft |
| US20140319304A1 (en) * | 2013-04-30 | 2014-10-30 | Hon Hai Precision Industry Co., Ltd. | Supporting device for electronic device |
| CN103387052A (en) * | 2013-07-23 | 2013-11-13 | 中国科学院长春光学精密机械与物理研究所 | Eight-rotor craft |
| CN204655312U (en) * | 2015-05-07 | 2015-09-23 | 常州高尔登科技有限公司 | A kind of wheelchair and backrest angle adjusting device thereof |
| CN106314784A (en) * | 2015-11-05 | 2017-01-11 | 曹萍 | Non-planar four-arm eight-rotor aircraft |
| CN106697273A (en) * | 2017-01-19 | 2017-05-24 | 福州大学 | Multi-angle adjustable flying robot and operating method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107458594B (en) | 2023-05-26 |
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